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<p><code>#include &lt;<a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>&gt;</code></p>
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<table class="memberdecls">
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Public Member Functions</h2></td></tr>
<tr class="memitem:a85fc4b99f4589822abe3fa924e6d96a6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#a85fc4b99f4589822abe3fa924e6d96a6">FirstOrderIIRFilter</a> (T2 cutoffFrequency, T2 sampleFrequency, T &amp;initialValue)</td></tr>
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<tr class="memitem:a3b3db52338d746113e81c4004e2d297a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#a3b3db52338d746113e81c4004e2d297a">FirstOrderIIRFilter</a> (T2 alpha, T &amp;initialValue)</td></tr>
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<tr class="memitem:a6b1e22e84349dfe5b4c166a9d46c5d4b"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#a6b1e22e84349dfe5b4c166a9d46c5d4b">update</a> (T &amp;x)</td></tr>
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<tr class="memitem:a11abac204c75fb6ef53e830d052dfab1"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#a11abac204c75fb6ef53e830d052dfab1">get</a> ()</td></tr>
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<tr class="memitem:a61a75162159729879b260f13e43a39d3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#a61a75162159729879b260f13e43a39d3">reset</a> ()</td></tr>
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Private Attributes</h2></td></tr>
<tr class="memitem:aaeb04a80e96ed5d4d72bd37ffa856965"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a></td></tr>
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<tr class="memitem:aff8c38c9281f6920f0715485f22fd948"><td class="memItemLeft" align="right" valign="top">T2&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">_alpha</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T, typename T2&gt;<br />
class FirstOrderIIRFilter&lt; T, T2 &gt;</h3>

<p>First Order Filter </p><dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">T</td><td>: type of the data to be filtered </td></tr>
    <tr><td class="paramname">T2</td><td>: floating point type for the cutoff/sample frequencies, gain </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00018">18</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a>&lt; T, T2 &gt;::<a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a> </td>
          <td>(</td>
          <td class="paramtype">T2&#160;</td>
          <td class="paramname"><em>cutoffFrequency</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T2&#160;</td>
          <td class="paramname"><em>sampleFrequency</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T &amp;&#160;</td>
          <td class="paramname"><em>initialValue</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<p>Create a new first order filter </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cutoffFrequency</td><td>: cutoff frequency of filter </td></tr>
    <tr><td class="paramname">sampleFrequency</td><td>: sample frequency (rate at which update is called) </td></tr>
    <tr><td class="paramname">initialialValue</td><td>: initial value stored in the filter </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00026">26</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                                                                               {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">_alpha</a> = 1 - std::exp(-2 * M_PI * cutoffFrequency / sampleFrequency);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a> = initialValue;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  }</div><div class="ttc" id="class_first_order_i_i_r_filter_html_aaeb04a80e96ed5d4d72bd37ffa856965"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">FirstOrderIIRFilter::_state</a></div><div class="ttdeci">T _state</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00057">FirstOrderIIRFilter.h:57</a></div></div>
<div class="ttc" id="class_first_order_i_i_r_filter_html_aff8c38c9281f6920f0715485f22fd948"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">FirstOrderIIRFilter::_alpha</a></div><div class="ttdeci">T2 _alpha</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00058">FirstOrderIIRFilter.h:58</a></div></div>
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          <td class="memname"><a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a>&lt; T, T2 &gt;::<a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a> </td>
          <td>(</td>
          <td class="paramtype">T2&#160;</td>
          <td class="paramname"><em>alpha</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T &amp;&#160;</td>
          <td class="paramname"><em>initialValue</em>&#160;</td>
        </tr>
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<p>Create a new first order filter </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">alpha</td><td>: filter parameter </td></tr>
    <tr><td class="paramname">initialValue</td><td>: initial value </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00036">36</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      : <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a>(initialValue), <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">_alpha</a>(alpha) {}</div><div class="ttc" id="class_first_order_i_i_r_filter_html_aaeb04a80e96ed5d4d72bd37ffa856965"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">FirstOrderIIRFilter::_state</a></div><div class="ttdeci">T _state</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00057">FirstOrderIIRFilter.h:57</a></div></div>
<div class="ttc" id="class_first_order_i_i_r_filter_html_aff8c38c9281f6920f0715485f22fd948"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">FirstOrderIIRFilter::_alpha</a></div><div class="ttdeci">T2 _alpha</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00058">FirstOrderIIRFilter.h:58</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">T <a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a>&lt; T, T2 &gt;::get </td>
          <td>(</td>
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<p>Get the value of the filter, without updating </p>

<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00052">52</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a>; }</div><div class="ttc" id="class_first_order_i_i_r_filter_html_aaeb04a80e96ed5d4d72bd37ffa856965"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">FirstOrderIIRFilter::_state</a></div><div class="ttdeci">T _state</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00057">FirstOrderIIRFilter.h:57</a></div></div>
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<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00054">54</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{ <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a> *= T2(0); }</div><div class="ttc" id="class_first_order_i_i_r_filter_html_aaeb04a80e96ed5d4d72bd37ffa856965"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">FirstOrderIIRFilter::_state</a></div><div class="ttdeci">T _state</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00057">FirstOrderIIRFilter.h:57</a></div></div>
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<p>Update the filter with a new sample </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>: the new sample </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the new state of the filter </dd></dl>

<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00044">44</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                 {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a> = <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">_alpha</a> * x + (T2(1) - <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">_alpha</a>) * <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">_state</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div><div class="ttc" id="class_first_order_i_i_r_filter_html_aaeb04a80e96ed5d4d72bd37ffa856965"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aaeb04a80e96ed5d4d72bd37ffa856965">FirstOrderIIRFilter::_state</a></div><div class="ttdeci">T _state</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00057">FirstOrderIIRFilter.h:57</a></div></div>
<div class="ttc" id="class_first_order_i_i_r_filter_html_aff8c38c9281f6920f0715485f22fd948"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html#aff8c38c9281f6920f0715485f22fd948">FirstOrderIIRFilter::_alpha</a></div><div class="ttdeci">T2 _alpha</div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00058">FirstOrderIIRFilter.h:58</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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template&lt;typename T, typename T2&gt; </div>
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          <td class="memname">T2 <a class="el" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a>&lt; T, T2 &gt;::_alpha</td>
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<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00058">58</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>

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template&lt;typename T, typename T2&gt; </div>
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<p>Definition at line <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00057">57</a> of file <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">FirstOrderIIRFilter.h</a>.</p>

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